MPTask Class Reference

Public Member Functions
Construction
	MPTask (Robot *const _robot)
	MPTask (MPProblem *const _problem, XMLNode &_node)
	MPTask (const MPTask &_other)
	Copy.
	MPTask (MPTask &&_other)
	Move.
	~MPTask ()
Assignment
MPTask &	operator= (const MPTask &_other)
	Copy.
MPTask &	operator= (MPTask &&_other)
	Move.
Property Accessors
Robot *	GetRobot () const noexcept
	Get the robot associated with this task.
void	SetRobot (Robot *const _r)
const std::string &	GetLabel () const noexcept
	Get the semantic label for this task.
void	SetLabel (const std::string &_label) noexcept
nonstd::status &	GetStatus () noexcept
	Get the status object for this task.
const nonstd::status &	GetStatus () const noexcept
bool	Empty () const noexcept
size_t	GetNumGoals () const noexcept
	Get the number of goals in this task.
Constraint Accessors
The task will take ownership of any added constraints and delete them when necessary.
void	SetStartConstraint (std::unique_ptr< Constraint > &&_c)
void	AddPathConstraint (std::unique_ptr< Constraint > &&_c)
void	AddGoalConstraint (std::unique_ptr< Constraint > &&_c)
const Constraint *	GetStartConstraint () const noexcept
	Get start constraint.
const ConstraintSet &	GetPathConstraints () const noexcept
	Get all path constraints.
const ConstraintSet &	GetGoalConstraints () const noexcept
	Get all goal constraints.
void	ClearGoalConstraints ()
	Remove all goal constraints.
void	SetCapability (const std::string &_capability)
const std::string &	GetCapability () const noexcept
Time Accessors
Store and fetch estimated times for beginning and completing this task.
void	SetEstimatedStartTime (const double _time) noexcept
void	SetEstimatedCompletionTime (const double _time) noexcept
double	GetEstimatedStartTime () const noexcept
	Get the estimated start time for the task.
double	GetEstimatedCompletionTime () const noexcept
	Get the estimated completion time for the task.
void	SetReleaseWindow (const std::pair< double, double > _release) noexcept
	Set release window.
void	SetDeadlineWindow (const std::pair< double, double > _deadline) noexcept
	Set deadline window.
std::pair< double, double >	GetReleaseWindow () const noexcept
	Get the release window.
std::pair< double, double >	GetDeadlineWindow () const noexcept
	Get the deadline window.
Constraint Evaluation
bool	EvaluateCapability (const Robot *const _r) const
bool	EvaluateStartConstraints (const Cfg &_cfg) const
bool	EvaluatePathConstraints (const Cfg &_cfg) const
bool	EvaluateGoalConstraints (const Cfg &_cfg) const
bool	EvaluateGoalConstraints (const Cfg &_cfg, const size_t _index) const

Public Types
Local Types
typedef std::vector< std::unique_ptr< Constraint > >	ConstraintSet
	A set of constraints.

Detailed Description

Describes a motion task for a single robot in terms of start/goal conditions and constraints on allowable trajectories.

Tasks are defined by a robot and three sets of constraints:

• Start constraints describe the conditions required to start a task.
• Path constraints describe restrictions that must be observed throughout a valid solution.
• Goal constraints describe the conditions that must be met to complete a task. A specific robot may be assigned to perform the task, or null may be used to indicate that any robot may perform it. A specific capability may also be required.

Todo:

We should remove the capability here and redefine it as a constraint (since the constraints should fully define the task). The fact that a capability is or is not required should generally be discerned from the problem, while a capability constraint would more likely represent a deliberate restriction that is not strictly required (perhaps to express an operational preference). We will also eventually encounter cases where multiple capabilities are required to satsify a task.

Todo:

Support the use of path constraints in the library code, which currently doesn't care about this.

Constructor & Destructor Documentation

MPTask() [1/2]

MPTask::MPTask ( Robot *const  _robot )

explicit

Create an empty task for a given robot.

Parameters

_robot

The robot assigned to this task.

MPTask() [2/2]

MPTask::MPTask ( MPProblem *const  _problem, XMLNode &  _node  )

explicit

Parse the set of task constraints described in an XML node.

Parameters

_problem	The MPProblem for this task.
_node	The XML node to parse.

Member Function Documentation

SetRobot()

void MPTask::SetRobot

(

Robot *const

_r

)

Re-assign this task to another robot.

Parameters

_r	The destination robot which will receive this assignment.

SetLabel()

void MPTask::SetLabel ( const std::string &  _label )

noexcept

Set the semantic label for this task.

Parameters

_label

Label to set

Empty()

bool MPTask::Empty ( ) const

noexcept

A task is considered to be 'empty' if it has neither start nor goal constraints.

Returns

True if task is 'empty'

SetStartConstraint()

void MPTask::SetStartConstraint

(

std::unique_ptr< Constraint > &&

_c

)

Set start constraint for task

Parameters

_c	Constraint to set as start constraint

AddPathConstraint()

void MPTask::AddPathConstraint

(

std::unique_ptr< Constraint > &&

_c

)

Add path constraint to task

Parameters

_c	Path constraint to add to task

AddGoalConstraint()

void MPTask::AddGoalConstraint

(

std::unique_ptr< Constraint > &&

_c

)

Add goal constraint to task

Parameters

_c	Goal constraint to add to task

SetCapability()

void MPTask::SetCapability

(

const std::string &

_capability

)

Sets the capability required for this task.

Parameters

_capability

The capability required to complete this task.

GetCapability()

const std::string & MPTask::GetCapability ( ) const

noexcept

Get the robot capability which is required to satisfy this task, if any.

Returns

The required capability for this task, or empty string if none.

SetEstimatedStartTime()

void MPTask::SetEstimatedStartTime ( const double  _time )

noexcept

Set the estimated start time for the task

Parameters

_time

The estimated start time

SetEstimatedCompletionTime()

void MPTask::SetEstimatedCompletionTime ( const double  _time )

noexcept

Set the estimated completion time for the task

Parameters

_time

The estimated completion time

EvaluateCapability()

bool MPTask::EvaluateCapability

(

const Robot *const

_r

)

const

Evaluate whether a robot has the needed capability.

Parameters

_r	The robot to check.

Returns

True if _r meets any capability requirements.

EvaluateStartConstraints()

bool MPTask::EvaluateStartConstraints

(

const Cfg &

_cfg

)

const

Check if a configuration satisfies the start constraints.

Parameters

_cfg	The configuration to check.

Returns

True if _cfg satisfies all start constraints.

EvaluatePathConstraints()

bool MPTask::EvaluatePathConstraints

(

const Cfg &

_cfg

)

const

Check if a configuration satisfies the start constraints.

Parameters

_cfg	The configuration to check.

Returns

True if _cfg satisfies all path constraints.

EvaluateGoalConstraints() [1/2]

bool MPTask::EvaluateGoalConstraints

(

const Cfg &

_cfg

)

const

Check if a configuration satisfies the last goal constraints.

Parameters

_cfg	The configuration to check.

Returns

True if _cfg satisfies the last goal constraints.

EvaluateGoalConstraints() [2/2]

bool MPTask::EvaluateGoalConstraints	(	const Cfg &	_cfg,
		const size_t	_index
	)		const

Check if a configuration satisfies the constraints for a specific goal.

Parameters

_cfg	The configuration to check.
_index	The goal index to check.

Returns

True if _cfg satisfies the last goal constraints.

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The documentation for this class was generated from the following files:

• MPTask.h
• MPTask.cpp